ISSN:
1432-0541
Keywords:
Robot
;
Fingers
;
Force-torque closure
;
Form closure
;
Polyhedron
;
Steinitz
;
Algorithm
;
Grip
;
Grasp
;
Complexity
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mathematics
Notes:
Abstract We prove that a robot hand whose fingers make frictionless contact with a convex polyhedral object will be able to find a grasp where the hand can exert any desired force-torque on the object provided the hand has seven fingers. We present an algorithm for grasping any convex polyhedron and we prove rigorously that it works for any convex polyhedron. The algorithm requiresO(n 3/2√logn) steps (in the worst case) wheren is the number of vertices.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01190900
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